[go: up one dir, main page]

WO2025154067A1 - Systèmes et procédés permettant de fixer un changeur d'outil à un bras robotique - Google Patents

Systèmes et procédés permettant de fixer un changeur d'outil à un bras robotique

Info

Publication number
WO2025154067A1
WO2025154067A1 PCT/IL2025/050054 IL2025050054W WO2025154067A1 WO 2025154067 A1 WO2025154067 A1 WO 2025154067A1 IL 2025050054 W IL2025050054 W IL 2025050054W WO 2025154067 A1 WO2025154067 A1 WO 2025154067A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool changer
end effector
tracking system
tracking
robotic arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/IL2025/050054
Other languages
English (en)
Inventor
Itamar ESHEL
Moran GUTHMAN
Itay JERBY
Hay H. SHMULEVICH
Nir OFER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mazor Robotics Ltd
Original Assignee
Mazor Robotics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mazor Robotics Ltd filed Critical Mazor Robotics Ltd
Publication of WO2025154067A1 publication Critical patent/WO2025154067A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable for use with different instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A61B2090/0808—Indication means for indicating correct assembly of components, e.g. of the surgical apparatus

Definitions

  • Surgical robots may assist a surgeon or other medical provider in carrying out a surgical procedure, or may complete one or more surgical procedures autonomously.
  • Various tools referred to as end effectors, may be used to carry out the surgical procedure with the aid of imaging devices.
  • Example aspects of the present disclosure include:
  • the first alert includes a visual alert.
  • the tracking device comprises one or more light sources that provide the visual alert.
  • the one or more light sources are used to facilitate tracking of the robotic arm within the coordinate system by one or more cameras.
  • the one or more light sources comprise a first light source that turns on when the first threshold is reached and a second light source that turns on when the second threshold is reached.
  • the at least one processor is configured to generate a signal that causes movement of the robotic arm as the first alert.
  • any of the aspects herein, wherein the first alert comprises rotation of the tracking system or rotation of the tool changer in a substantially same direction of the rotational force.
  • first connection comprises one or more screw connections.
  • connection comprises a kinematic connection.
  • Example aspects of the present disclosure include:
  • a system comprising: a tracking system configured to track a robotic arm within a coordinate system; and a sensor in force-transmitting contact with the tracking system, the sensor being configured to generate sensor data indicative of a rotational force applied to the first connection when connecting a tool changer to the tracking system, wherein the tracking system is configured to issue a first alert when the sensor data indicates that the rotational force reaches a first threshold.
  • any of the aspects herein, wherein the sensor is configured to generate further sensor data indicative of rotational, compressive, and tensile forces experienced during a surgical procedure.
  • the robotic arm wherein the first alert comprises movement of a floating portion of the tracking system.
  • the movement of the floating portion is a rotation of the floating portion relative to a fixed part of the tracking system.
  • Example aspects of the present disclosure include:
  • a method for attaching a tool changer to a robotic arm comprising: monitoring, based on output a torque-force sensor integrated with a tracking system that facilitates tracking of the robotic arm within a coordinate system, a torque applied to a first connection between the tool changer and the tracking system; and issuing one or more alerts when the torque reaches a threshold.
  • each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as XI -Xn, Yl-Ym, and Zl- Zo
  • the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., XI and X2) as well as a combination of elements selected from two or more classes (e.g., Y 1 and Zo).
  • the term “a” or “an” entity refers to one or more of that entity.
  • the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.
  • FIG. 1A shows aspects of a system according to at least one embodiment of the present disclosure.
  • Fig. 1C shows aspects of a tracking system according to at least one embodiment of the present disclosure.
  • Fig. ID shows aspects of an end effector according to at least one embodiment of the present disclosure.
  • Figs. 2A and 2B show various views of a tool changer according to at least one embodiment of the present disclosure.
  • the communication interface 108 may be similar to or the same as any communication interface discussed herein (e.g., the communication interface 124).
  • the communication interface 108 may be used for receiving image data or other information from an external source (such as the imaging device 112, the robot 114, the database 130, the cloud 134, and/or any other system or component not part of the system 100), and/or for transmitting instructions, images, or other information to an external system or device (e.g., the imaging device 112, the robot 114, the database 130, the cloud 134, and/or any other system or component not part of the system 100).
  • an external source such as the imaging device 112, the robot 114, the database 130, the cloud 134, and/or any other system or component not part of the system 100.
  • the user interface 110 may be or comprise one or multiple user interfaces.
  • the user interface 110 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and/or any other device for receiving information from a user and/or for providing information to a user.
  • the user interface 110 may be used, for example, to receive a user selection or other user input regarding any step of any method described herein. Notwithstanding the foregoing, any required input for any step of any method described herein may be generated automatically by the system 100 (e.g., by the processor 104, the processor 120, or another component of the system 100) or received by the system 100 from a source external to the system 100.
  • the user interface 110 may be useful to allow a surgeon or other user to modify instructions to be executed by the processor 104 (or in some embodiments the processor 120) according to one or more embodiments of the present disclosure, and/or to modify or adjust a setting of other information displayed on the user interface 110 or corresponding thereto.
  • the processor 104 and/or the processor 120 may utilize a user interface 110 that is housed separately from the navigation system 118.
  • the user interface 110 may be located proximate one or more other components of the robot 114, while in other embodiments, the user interface 110 may be located remotely from one or more other components of the robot 114.
  • the database 130 may store information that correlates one coordinate system to another (e.g., one or more robotic coordinate systems to a patient coordinate system and/or to a navigation coordinate system).
  • the database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about a target and/or image information about a patient’s anatomy at and/or proximate the surgical site, for use by the robot 114, the navigation system 118, and/or a user of the system 100; information about planned surgical tools to be used and connected to the robotic arm 116 to carry out the surgery or surgical procedure); one or more images useful in connection with a surgery to be completed by or with the assistance of one or more other components of the system 100; information related to the tracking system 132, the tool changer 136, and/or the end effector 140, and/or any other useful information.
  • the database 130 may be configured to provide any such information to any device of the system 100 or external to the system 100, whether directly or via the cloud 134.
  • the database 130 may be or comprise part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and/or another system for collecting, storing, managing, and/or transmitting electronic medical records including image data.
  • a hospital image storage system such as a picture archiving and communication system (PACS), a health information system (HIS), and/or another system for collecting, storing, managing, and/or transmitting electronic medical records including image data.
  • the cloud 134 may be or represent the Internet or any other wide area network.
  • the robot 114, the navigation system 118, the database 130, and/or the like may be connected to the cloud 134 via the communication interface 108 and/or the communication interface 124, using a wired connection, a wireless connection, or both.
  • one or more components of the system 100 may communicate with the imaging device 112, the database 130, any other component of the system 100, and/or an external device (e.g., a computing device outside the system 100) via the cloud 134.
  • the tracking system 132 has a proximal end with an interface that is connectable to the distal end of the robotic arm 116 to attach the tracking system 132 to the robotic arm 116.
  • the tracking system 132 has a distal end that facilitates connection of the tracking system 132 to the tool changer 136.
  • the tracking system 132 remains on the robotic arm 116 through the course of the surgery or surgical procedure.
  • the tracking system 132 may comprise a tracking device 134 that includes components used for tracking the system 132 itself, the robotic arm 116, the tool changer 136, and/or the end effector 140 within a coordinate system, such as a coordinate system formed by the navigation system 118 with the aid of imaging device(s) 112.
  • the tracking device 134 may comprise a processor 148, a memory 152, and one or more passive or active navigation markers 150 (e.g., reflective spheres as passive markers, infrared Light Emitting Diodes (IRLEDs) as active markers).
  • the navigation markers 150 may be disposed in a predetermined arrangement on the tracking system 132 which may enable, for example, registration with other elements of the system based on the detection of the navigation markers 150 using image data from the imaging devices 112 and processing by the navigation system 118.
  • the memory 152 of the tracking system 132 may comprise a calibration file including calibration and authentication information that enables the controller 128 to calibrate and authenticate the tracking system 132, as discussed in further detail below.
  • the tracking system 132 may omit one or more components depicted in Fig. IB. In some embodiments, the tracking system 132 may comprise additional components, such as temperature sensors, LED driver circuit(s), other sensors used for surgery, communication interfaces, and/or the like.
  • the processor 148 may be similar to or the same as any processor discussed herein (e.g., the processor 104, the processor 120, etc.).
  • the processor 148 may be configured to execute instructions stored in the memory 152, which instructions may cause the processor 148 to carry out one or more computing steps utilizing or based on data received from the imaging device 112, the robot 114, the database 130, the cloud 134, and/or any other component of the system 100.
  • the memory 152 may be similar to or the same as any memory discussed herein (e.g., memory 106, the memory 122, etc.).
  • the memory 152 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non- transitory memory for storing computer-readable data and/or instructions.
  • the memory 152 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods.
  • the memory 152 comprises an EEPROM that is programmable to store information specific to the tracking system 132.
  • the EEPROM may comprise information about the position of LEDs on the tracking system 132; specification information associated with the dimensions, operating conditions, and the like of the tracking system 132; usage information associated with the tracking system 132; authentication information of the tracking system 132; and/or any other useful information. Such information may be sent by the processor 148 to the controller 128 upon the tracking system 132 being attached to the robotic arm 116.
  • the interface(s) 156 may comprise one or more electrical and/or mechanical interfaces to electrically and mechanically connect interface(s) 164 of the tool changer 136 to the tracking system 132 to enable the tool changer 136 to provide power and control signals to the end effector 140.
  • the end effector 140 may be an active component, such as a motorized surgical tool.
  • the interfaces 156 may send signals to and receive signals from the end effector 140 through the tool changer 136 to control the end effector 140 and/or active components of the end effector 140 such as surgical drills, reamers, etc.
  • power supplied to the interfaces 156 and signals exchanged with the end effector 140 are controlled by the processor 148.
  • the end effector 140 comprises a passive component, such as a cylinder that facilitates use of another tool therethrough - whether motorized or non-motorized.
  • the interfaces 156 may control or include a locking mechanism of the tracking system 132 that locks and unlocks the tool changer 136 such that the tool changer 136 can or cannot move relative to the tracking system 132.
  • the locking mechanism may be mechanical (e.g., the tool changer 136 is blocked from attaching to or detaching from the tracking system 132 by bolt(s) and/or the like), electrical (e.g., the tool changer 136 receives an electrical signal from the locking mechanism that causes the tool changer 136 to lock or unlock), combinations thereof, and/or the like.
  • the tracking system 132 may further comprise a force-torque (FT) sensor 158.
  • the FT sensor 158 may be in force-transmitting contact with the robotic arm 116, tool changer 136, and/or end effector 140 so as to measure rotational, compressive, and/or tensile forces applied to one or more of these elements.
  • the FT sensor 158 may generate sensor data indicative of these forces and send the sensor data to processor 148 which may generate an alert for excessive forces and/or compensate for forces (e.g., caused by robotic arm 116 deflections).
  • the FT sensor 158 may be a six axis FT sensor that can measure tensile and compression forces as well as elastic deformations and rotational forces around axes.
  • the FT sensor 158 may be located closer to a distal end of the tracking system 132 than a proximal end thereof.
  • the FT sensor 158 may be implemented with suitable force and torque sensing technology, such as a strain gauge sensor. It should be appreciated that the FT sensor 158 may be replaced by a sensor that only senses rotational force (and not necessarily compressive and tensile forces). According to embodiments of the present disclosure, the FT sensor 158 may further generate sensor data indicative of a rotational force applied to one or more connections (e.g., screw connections) between the tool changer 136 and the tracking system 132. Figs. 2A to 4 describe these aspects in more detail.
  • the tracking system 132 may comprise one or more output devices 159 configured to issue audio and/or visual alerts based on output of the FT sensor 158.
  • output devices 159 include but are not limited to light sources (e.g., visible-light LEDs separate from navigation markers 150) for issuing visual alerts, a display for issuing visual alerts with readable text, one or more speakers for issuing audio alerts, and/or the like.
  • alerts may be generated based on output of the FT sensor 158 that is indicative rotational, compressive, and/or tensile forces sensed when connecting the tool changer 136 to the tracking system 132 and/or during a surgical procedure involving the robotic arm.
  • the tool changer 136 may comprise one or more electrical and/or mechanical interfaces 164 at the distal and proximal ends thereof that electrically and mechanically connect with an end effector 140 and the tracking system 132.
  • the interfaces 164 are described in more detail below with reference to Figs. 2A and 2B but should generally be understood to include a first type of mechanical connection to the tracking system (e.g., via one or more screws with corresponding screw locators) and a second type of mechanical connection to the end effector (e.g., a locking kinematic connection).
  • the first and second types of mechanical connections are the same type of connection, such as both being a kinematic connection or both including screws and corresponding screw locators.
  • the tool changer 136 may comprise a distal end interface with fixed dimensions designed to connect to corresponding end effectors 140.
  • the tool changer 136 comprises a distal end interface with adjustable dimensions to enable end effectors 140 of different shapes and sizes to be coupled to the robotic arm 116.
  • the tool changer 136 comprises a tool changer controller 160 that generates control signals (or in some cases receive control signals from other components of the system 100) that are passed to the end effector 140.
  • the tool changer controller 160 may control, for example, an interlocking feature of the tool changer 136 such that the end effector 140 can only be uncoupled from the tool changer 136 when the tool changer 136 is positioned near or within a tool stand.
  • the tool changer controller 160 may determine that the tool changer 136 is coupled with the end effector 140.
  • the tool changer controller 160 may determine this information based on sensors, based on signals generated when the end effector 140 has effectively coupled with the tool changer 136, based on the step in the surgical procedure, combinations thereof, and/or the like. Once the tool changer controller 160 determines that the tool changer 136 and the end effector 140 are coupled, the tool changer controller 160 may keep the interlocking feature locked until receiving a further signal.
  • the tool changer controller 160 may generate and/or send the further signal when the tool changer 136 has been placed back in the tool stand (e.g., after the end effector 140 has been used and the surgery or surgical procedure has progressed to the next step), such that the tool changer controller 160 changes the interlocking feature to an unlocked state.
  • the tracking device 134 enables the navigation system 118 to track the robotic arm 116.
  • the tracking device 134 comprises navigation markers 150A- 150F.
  • the navigation markers 150A-150F may be or comprise one or more active markers (e.g., infrared light sources), one or more passive markers (e.g., sections of reflective tape, objects of a particular shape (spheres)), or a combination of active and passive markers.
  • the navigation markers 150A-150F may be, for example, IRLEDs, reflective markers, and/or the like.
  • the navigation system 118 may be configured to obtain pose information describing a pose of the navigation markers 150A-150F, which may be used to determine a correlating pose of the robotic arm 116, the tracking system 132, and/or the end effector 140 (e.g., using transformation 124 and registration 128).
  • the end effector 140 may include a proximal end having an electromechanical interface that is connectable to an interface 164 of the tool changer 136 and a distal end that comprises an operative portion 180 that can be used to carry out one or more surgical tasks.
  • the end effector 140 may comprise an active end effector, such as when the operative portion 180 comprises a surgical tool, or a passive end effector, such as when the operative portion 180 comprises a tool guide.
  • the end effector 140 also comprises a memory 172, and may additionally comprise a processor 168 and a motor controller 176.
  • the operative portion 180 may comprise a surgical tool.
  • the surgical tool may be configured to drill, burr, mill, cut, saw, ream, tap, etc. into anatomical tissues such as patient anatomy (e.g., soft tissues, bone, etc.).
  • the system 100 may comprise multiple surgical tools, with each surgical tool performing a different surgical task (e.g., a surgical drill for drilling, a surgical mill for milling, a curette for removing anatomical tissue, an osteotome for cutting bone, etc.).
  • the operative portion 180 may comprise a tool guide.
  • the tool guide may provide a passive hole through which a surgical tool or component may pass to reach a surgical site.
  • the tool guide may be or comprise a hollow cylinder that can be aligned with a planned trajectory of a surgical tool.
  • the guide provides a visual indicator to an operator (e.g., a surgeon) of the planned trajectory of the surgical tool.
  • the operative portion 180 comprising the tool guide may be attached to the robotic arm 116 and the robotic arm 116 may move such that the tool guide is positioned at the planned surgical entry point.
  • Another robotic arm 116 with a surgical tool (e.g., a surgical drill) may then be positioned such that the surgical tool enters the surgical site through the tool guide.
  • the operative portion 180 may be controlled by a motor controller 176.
  • the motor controller 176 may be connected to or otherwise communicate with one or more motors disposed in or connected to the end effector 140.
  • the motor controller 176 may control the operation of the motors, such that the motor controller 176 controls movement of the end effector 140 and/or one or more components thereof such as the operative portion 180.
  • the motor controller 176 may control the motors based on signals sent from the robot 114 or components thereof (e.g., the controller 128), the navigation system 118 or components thereof (e.g., the processor 104), the tracking system 132, the tool changer 136, and/or the like.
  • the motor controller 176 may control one or more motors of the operative portion 180 to cause movement of the surgical tool, to turn the surgical tool on and off, combinations thereof, and/or the like.
  • the processor 168 may be similar to or the same as any processor discussed herein (e.g., the processor 104, processor 120, the processor 148, etc.).
  • the processor 168 may be configured to execute instructions stored in the memory 172, which instructions may cause the processor 168 to send information stored in the memory 172 to one or more components of the system 100 (e.g., to the robot 114, to the navigation system 118, to the tracking system 132, to the tool changer 136, etc.). Additionally or alternatively, the instructions may cause the processor 168 write to or otherwise update information stored in the memory 172, such as to update information about the number of uses of the end effector 140, as discussed in further detail below.
  • the memory 172 may be similar to or the same as any memory discussed herein (e.g., the memory 122).
  • the memory 172 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein such as an EEPROM, or any other tangible, non-transitory memory for storing computer-readable data and/or instructions.
  • the memory 106 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods. In some cases, both the processor 168 and the stored on a printed circuit board disposed in the end effector 140.
  • the memory 172 is reprogrammable memory, such that information stored in the memory 172 can be erased and reprogrammed.
  • the memory 172 may be unique to the end effector 140.
  • each end effector 140 may have a separate memory 172 embedded in the end effector 140 and containing information unique to the end effector 140.
  • the memory 172 comprises end effector type information 184, authentication information 188, calibration information 192, end effector usage information 194, and miscellaneous information 196.
  • the end effector type information 184 may indicate whether the end effector 140 is an active end effector (e.g., the operative portion 180 comprises an active surgical tool such as a surgical drill) or a passive end effector (e.g., the operative portion 180 comprises a passive surgical tool such as a tool guide).
  • the end effector type information 184 may be accessed by the processor 168 and sent to the controller 128 of the robot 114. In some cases, the end effector type information 184 may be sent to the navigation system 118 to help the navigation system 118 track the end effector 140.
  • the navigation system 118 may be able to better track the end effector 140 when the navigation system 118 has information about the type of end effector in use (e.g., a passive end effector may not move as compared to an active end effector which may move).
  • the controller 128 may render the end effector type information 184 to the user interface 110 to enable a user to view the end effector type information 184.
  • the controller 128 may compare the end effector type information 184 to information stored in the database 130 to authenticate the end effector 140.
  • the surgical plan may call for the use of an active end effector capable of resecting anatomical tissue, and the end effector type information 184 may specify that the end effector 140 is an active end effector that includes a surgical drill.
  • the controller 128 may receive the end effector type information 184 and, since the end effector type information 184 matches the end effector type required by the surgical plan, the controller 128 may determine that the end effector 140 connected to the robotic arm 116 is the correct end effector.
  • the surgical plan may call for the use of an active surgical drill, but the end effector type information 184 may specify that the end effector 140 is a passive instrument (e.g., a tool guide) that cannot resect anatomical tissue.
  • the controller 128 may determine that the end effector 140 is not the correct end effector for the current step of the procedure.
  • the controller 128 may render a warning (e.g., a flashing light) to the display to notify the user that the incorrect end effector has been attached. Additionally or alternatively, the controller 128 may disable use of the robotic arm 116 and/or components thereof until the improper end effector 140 is removed or until the appropriate end effector 140 is attached.
  • a warning e.g., a flashing light
  • the authentication information 188 may comprise information that enables the system 100 or components thereof (e.g., the processor 120 of the robot 114) to authenticate the end effector 140.
  • the end effector type information 184 may be or comprise information associated with the manufacturing source, date of manufacturing, lot number, model number, serial number, recommended operating settings, operating parameters, combinations thereof, and/or the like.
  • the authentication information 188 may be accessed by the processor 168 and sent to the controller 128 of the robot 114.
  • the controller 128 may compare the authentication information 188 to information stored in the database 130 to authenticate the end effector 140.
  • the surgical plan for a surgical procedure may call for the use of an end effector manufactured by a first manufacturer, and the authentication information 188 may specify that the end effector 140 was manufactured by the first manufacturer.
  • the controller 128 may receive the authentication information 188 and, since the authentication information 188 matches the surgical plan, the controller 128 may determine that the end effector 140 connected to the robotic arm 116 is an acceptable end effector for performing the surgical procedure. In some cases, the controller 128 may be able to control the end effector 140 once the end effector 140 has been authenticated.
  • the surgical plan may call for the use of an end effector manufactured by the first manufacturer, but the authentication information 188 may specify that the end effector 140 was manufactured by a second, different manufacturer.
  • the controller 128 may determine that the end effector 140 is not acceptable to perform the current step of the procedure. In such examples, the controller 128 may render a warning (e.g., a flashing light) to the display to notify the user that the incorrect end effector has been attached. Additionally or alternatively, the controller 128 may disable use of the robotic arm 116 and/or components thereof until the improper end effector 140 is removed or until the appropriate end effector 140 is attached.
  • a warning e.g., a flashing light
  • the calibration information 192 may comprise information about the dimensions of the end effector 140 and/or components thereof (e.g., the operative portion 180).
  • the dimensions may be based on one or more measurements of the end effector 140 generated with one or more measurement systems.
  • the dimensions of the end effector 140 may be generated using a CMM.
  • the CMM may capture the geometry of the end effector 140 based on sensing of discrete points on the surface of the end effector 140.
  • the measurements of the end effector 140 may be stored as the calibration information 192 in the memory 172.
  • the calibration information 192 may be accessed by the processor 168 and sent to the controller 128.
  • the processor 168 may send the information once the end effector 140 is coupled to the robotic arm 116 (e.g., via the tool changer 136).
  • the controller 128 may receive the calibration information 192 and use the calibration information 192 along with the known pose of the robotic arm 116 to register the end effector 140 to the robot 114.
  • the controller 128 may additionally or alternatively register the end effector 140 to any other coordinate system, and send such information to the navigation system 118 to enable the navigation system 118 to track the pose of the end effector 140.
  • the processor 168 may access the memory 172 and update the end effector usage information 194 to indicate that the end effector 140 has been used four times. Additionally or alternatively, the processor 168 may send the end effector usage information 194 to one or more components of the system 100, such as to the user interface 110 so that the end effector usage information 194 can be rendered to a display and reviewed by a user (e.g., a physician, a member of surgical staff, etc.).
  • a user e.g., a physician, a member of surgical staff, etc.
  • the end effector usage information 194 may be updated by the processor 168 after the end effector 140 has been used and returned to the tool stand.
  • the memory 172 is updated after the end effector 140 has been used and the surgical procedure requiring the end effector 140 has concluded.
  • the processor 168 may access the end effector usage information 194 and send the end effector usage information 194 to the controller 128, and the controller 128 may determine whether the end effector 140 has exceeded a predetermined number of uses.
  • the predetermined number of uses may be or comprise a threshold value stored, for example, in the database 130.
  • the controller 128 may disable use of the end effector 140 such as by preventing the operative portion 180 of the end effector 140 from receiving power.
  • the controller 128 may cause the processor 168 to write instructions to the memory 172 that specify that the end effector 140 is not to be used again.
  • the controller 128 may render a warning to the user interface 110 that notifies the user that the end effector 140 has exceeded the threshold number of uses.
  • the threshold number of uses may be based on the specifications of the surgery or surgical procedure, the surgical plan, surgeon preference, combinations thereof, and/or the like.
  • the miscellaneous information 196 may comprise any other useful information associated with the end effector 140 and/or components thereof.
  • the miscellaneous information 196 may comprise historical data associated with the end effector 140, such as the dates on which the end effector 140 was used, overall time of use of the end effector 140, combinations thereof, and/or the like.
  • an electrical interface 164 of a tool changer 136 may comprise a plurality of conductive pins or other electrical connectors and different end effectors 140 may utilize different ones of the pins or connectors.
  • the information in memory 172 may be used to identify the end effector 140 currently connected to the tool changer 136 so that the tracking system 132 sends power and/or data (e.g., control signals) to the appropriate pins or connectors.
  • the end effector type information 184 may be used to identify the currently connected end effector 140 as a particular model of a drill that utilizes a subset of the electrical pins on the tool changer 136 so that power and/or control signals are sent from the tracking system 132 to the proper pins of the tool changer 136 for the purpose of controlling the end effector 140.
  • the memory 172 and the elements thereof e.g., the end effector type information 184, the authentication information 188, etc.
  • the memory 152 of the tracking system 132 may comprise an EEPROM or any similar erasable and programmable memory that stores information about the tracking system 132.
  • the system 100 or similar systems may be used, for example, to carry out one or more aspects of the methods described herein.
  • the system 100 or similar systems may also be used for other purposes.
  • FIGs. 2A and 2B illustrate different views of a tool changer 136 according to at least one embodiment of the present disclosure.
  • Fig. 2C illustrates a distal end view of a tracking system 132 according to at least one embodiment of the present disclosure.
  • Fig. 2A illustrates an example distal end view of a tool changer 136 that electrically and mechanically connects to an end effector 140 (not shown) via corresponding interfaces.
  • Fig. 2B illustrates an example proximal end view of a tool changer 136, which may face the distal end of the tracking system 132 in Fig. 2C when connected to the tracking system 132.
  • the interfaces of the tool changer 136 are described in more detail below with reference to Figs.
  • the tool changer 136 includes a stationary portion 200 and a movable portion 204 that rotates relative to the stationary portion 200 in the directions illustrated with dashed bi-directional arrows D.
  • the stationary portion 200 may include a lockunlock indicator 208 and the movable portion 204 may include a corresponding mark or indicator 212 used to indicate whether an end effector 140 is locked to the tool changer 136.
  • a user may place an end effector 140 (not shown) into an interior 218 of the tool changer and manually rotate the movable portion 204 with the aid of a protrusion 216 relative to the stationary portion 200 in a counter-clockwise direction (or clockwise direction if designed as such) to lock the end effector 140 to the stationary portion 200.
  • a protrusion 216 relative to the stationary portion 200 in a counter-clockwise direction (or clockwise direction if designed as such) to lock the end effector 140 to the stationary portion 200.
  • Four total protrusions 216 are shown, but the number of protrusions could be more or fewer, and in some scenarios, could be zero in which case the outer surface of the movable portion 204 may be textured.
  • the user manually rotates the movable portion 204 clockwise until the indicator 212 reaches the unlock portion of indicator 208.
  • locking the end effector 140 to the tool changer 136 also causes the end effector 140 to make electrical contact with the tool changer 136 by means of a mechanism that converts the rotational movement of the movable portion 204 into translational movement of the end effector 140.
  • unlocking the end effector 140 from the tool changer 136 may cause or allow the end effector 140 to move away from the tool changer 136 so that electrical contact does not exist.
  • the mechanism employed for a locking effect comprises a mechanism described in the above-referenced US patent applications and/or any other suitable locking mechanism.
  • protrusions 220a, 220b, 220c, and/or 220d may facilitate alignment, locking, and/or restriction of movement between the tool changer 136 and an end effector 140.
  • protrusions 220c are for a kinematic connection between the tool changer 136 and the end effector 140.
  • connection between the tool changer 136 and the tracking system 132 may be embodied by one or more mechanical connectors that are engaged via an applied rotational force that can be converted to a torque measurement based output of the FT sensor 158.
  • the tool changer 136 comprises one or more screw connections 222, shown in Figs. 2A and 2B as 222a, 222b, and 222c (222c not shown in Fig. 2A due to the view).
  • each screw connection 222a, 222b, and 222c may comprise a threaded screw or bolt inserted into the interior 218 of the distal end of the tool changer 136 in Fig. 2 A so as to penetrate through the proximal end of the tool changer 136 in Fig. 2B and into a corresponding threaded receiver portion 224a, 224b, and 224c of the tracking system 132 in Fig. 2C.
  • electrical connection between the tool changer 136 and the tracking system 132 and end effector 140 may be achieved through electrical connectors of the tool changer 136 and an electrical connector of the tracking system 132.
  • the electrical connectors of the tool changer 136 comprise a plurality of conductive pins 226a and 226b
  • the electrical connector of the tracking system 132 comprises conductive pads 228 that correspond to each conductive pin 226b.
  • each pin 226a at a distal end of the tool changer 136 may electrically connect to a corresponding pin 226b at the proximal end of the tool changer 136 and a corresponding conductive pad 228 of the tracking system 132 through a pad internal to the tool changer, and each pin 226b may electrically connect to a corresponding conductive pad 228 of the tracking system 132.
  • corresponding pins 226a and 226b are aligned with one another so as to have a same central longitudinal axis.
  • the pins 226a and 226b are spring loaded so as to have a compressed or pushed-in state and a decompressed or protruded state.
  • the pins 226a and 226b may be in a compressed state and in electrical contact with corresponding conductive pads (not shown) internal to the tool changer 136 and positioned between ends of corresponding pins 226a and 226b. Meanwhile, the pins 226b are in a decompressed state when the tool changer 136 is detached from or not secured to the tracking system 132.
  • spring-loaded pins 226a When an end effector 140 is attached and/or locked to the tool changer 136, spring-loaded pins 226a may be pushed into electrical contact with the conductive pads (not shown) internal to the tool changer 136.
  • the pins 226b may be in a decompressed state when the end effector 140 is detached from or not locked to the tool changer 136. In this case, the pins 226a retract from the conductive pads internal to the tool changer 136 so as to not to be in electrical contact.
  • at least some of the pins 226a and/or some of the pins 226b are not spring-loaded and are instead non-retractable conductive posts designed to make electrical contact with connections (which may be spring-loaded or not) on the end effector 140 and/or the tracking system 132.
  • pins 226b at the proximal end of the tool changer 136 are not spring loaded, and instead have lengths so as to be in constant electrical contact with pads 228 when the tool changer 136 is connected to the tracking system
  • a pin 226a as being separate from a pin 226b and electrically connectable to one another through a corresponding conductive pad internal to the tool changer 136.
  • a pin 226a and a pin 226b form a unitary component (i.e., a single pin) which passes through the tool changer 136 from the distal end to the proximal end.
  • both ends of the pin may have the same or similar spring-loaded functionality and compressed/decompressed states described so that the ends are compressed inward toward a center of the tool changer 136 in a compressed state and are allowed to decompress by extending away from the center of the tool changer 136 in a decompressed state.
  • the insulative middle section may be secured within the tool changer 136 and may be surrounded by or house a conductive pad that enables electrical connection when both ends are in the compressed state (i.e., when the tool changer 136 is connected to the end effector 140 and the tracking system 132 to push each end of the pin into contact with the conductive pad).
  • the proximal end of the tool changer 136 may include one or more alignment aids, such as protrusions 230a and 230b integrated with respective connections 222a and 222b, and the tracking system 132 may include corresponding recesses 232a and 232b.
  • the protrusions and recesses may assist with aligning the tool changer 136 and the tracking system 132 for proper connection and with ensuring accuracy of the system by providing an accurate and repeatable connection.
  • a protrusion and a corresponding recess is not included for connection 222c.
  • the tracking system 132 may comprise a mesa structure 234, threaded receiver portions 224, and pads 228.
  • the mesa structure 234 may protrude from a recessed surface 236 that functions as a cover for other components of the tracking system 132.
  • the tracking system 132 may further comprise an FT sensor 158 which, when connected to the tool changer 136 and the robotic arm 116, is in force-transmitting contact with the robotic arm 116 and the tool changer 136.
  • the FT sensor 158 may be an internal component of the tracking system 132 not visible in Fig.
  • the FT sensor 158 is configured to generate sensor data indicative of rotational and/or translational (compressive and tensile) forces experienced by the elements of the system 100 while operating the end effector during a surgical procedure. That is, the FT sensor 158 is capable of measuring moments/torques in all axes (X, Y, and Z) and forces (compressive and tensile) in all axes (X, Y, and Z), which may be used to trigger one or more alerts, such a visual alert by an output device 159 embodiment by one or more visible-light LEDs in Fig. 2C.
  • the FT sensor 158 is also used outside of a context that involves operating the end effector 140 during the surgical procedure or that involves other tasks completed during the surgical procedure, such as prior to operating the end effector 140 and/or when switching end effectors 140 during an ongoing procedure.
  • the FT sensor 158 may generate sensor data indicative of the rotational force applied to the one or more of the above-described screw connections 222 when connecting the tool changer 136 to the tracking system 132 and/or when double-checking the connection when switching out one end effector 140 for another end effector 140.
  • Fig. 2C illustrates an example with output devices 159 embodied as light sources (e.g., LEDs) that may provide a visual alert in response to determining that a particular screw connection 222 is sufficiently torqued (e.g., according to preset manufacturer recommendations).
  • output devices 159 embodied as light sources (e.g., LEDs) that may provide a visual alert in response to determining that a particular screw connection 222 is sufficiently torqued (e.g., according to preset manufacturer recommendations).
  • the light sources 159 form a ring that wraps partially or entirely around a section of the tracking system 132 that is between the proximal and distal ends of the tracking system 132.
  • the built-in FT sensor 158 of the tracking system 132 for the purpose of monitoring torque of screw connections 222 eliminates the need for additional special tooling like a sterile screwdriver with a built-in torque gauge, which adds cost to the system and/or add to the time required to attach the tool changer 136 to the tracking system 132. Additional details regarding issuance of alerts are described in more detail below with reference to Fig. 3.
  • Fig. 3 illustrates a method 300 according to at least one embodiment of the present disclosure.
  • the method 300 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor.
  • the at least one processor may be the same as or similar to the processor(s) described above.
  • the at least one processor may be part of a robot (such as a robot 114) or part of another system (such as a tracking system 132).
  • a processor other than any processor described herein may also be used to execute the method 300.
  • the at least one processor may perform the method 300 by executing elements stored in a memory described herein.
  • the elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 300.
  • One or more portions of a method 300 may be performed by the processor executing any of the contents of memory.
  • the FT sensor 158 is in indirect force-transmitting contact with a screw connection 222, meaning that a rotational force sensed by the FT sensor 158 may not be equivalent to the actual rotational force applied to the screw connection 222.
  • the FT sensor 158 may sense forces other than rotational forces, such as compressive and/or tensile forces, meaning that the sensor data generated by the FT sensor 158 contains compressive and/or tensile force data not necessarily relevant to the rotational force applied to a screw connection 222.
  • the processor 148 of the tracking system 132 translates the sensor data into a torque value using data collected during an initialization or calibration phase that correlates the sensor data of the FT sensor 158 with known torque values.
  • a phase may include correlating sets of sensor data output from the FT sensor 158 with known torque values provided by a precalibrated torque screwdriver or wrench such that each set of sensor data provided by the FT sensor 158 corresponds to a known torque value as indicated by the torque gauge of the screwdriver or wrench.
  • the sets of sensor data and known torque values may be stored as a lookup table (LUT) for accessing during the monitoring step 304.
  • the monitoring step 304 may include continually receiving the sensor data from the FT sensor 158 and consulting the LUT to match the received sensor data to a corresponding torque value.
  • the amount of torque needed for each screw connection 222 is a static value, and the system stores a single association that correlates one set of sensor data from the FT sensor 158 to the single static value.
  • the monitoring step 304 includes continually checking output of the FT sensor to determine when the sensor data matches the sensor data for the torque value.
  • the torque value for a particular screw connection 222 is displayed, for example, by a digital display included with the output devices 159 of the tracking system 132. The displayed torque value, which may have a selected unit of measurement, may change as the rotational force applied to a screw connection 222 changes.
  • the monitoring step 304 does not include translating the output of the FT sensor 158 into a torque value.
  • the monitoring step 304 includes continually checking output of the FT sensor 158 to determine when the sensor data matches a set of sensor data known to meet a desired torque value for a screw connection 222, which does not necessarily require translating the output of the FT sensor 158 into a torque value.
  • the method 300 may further include issuing one or more alerts when the rotational force reaches a threshold (step 308).
  • the threshold may comprise a torque value that is recommended or required to ensure secure connection of a tool changer 136 to a tracking system 132.
  • the threshold may comprise a set of sensor data (which may include compressive force data, rotational force data, tensile force data, and/or the like) known to achieve a safe and secure connection between the tool changer 136 and the tracking system 132 (e.g., as a result of prior testing).
  • the one or more alerts may be issued in step 308 by one or more elements of the system 100.
  • the one or more alerts include an audio alert, a visual alert, or both.
  • audio alerts may be provided by one or more speakers, such as speakers included with the output devices 159 and/or with the robot cart 144.
  • An audio alert may include pulsed chirp whose frequency increases as the rotational force increases toward the threshold before converting to a steady beep when the threshold is reached.
  • different audio alerts e.g., with different tones
  • a single audio alert (e.g., chirp) is triggered upon reaching the threshold.
  • the light sources may be arranged (e.g., stacked) in a manner that resembles a meter or gauge that enables a user to easily assess the current state of the screw connection 222.
  • light sources may be sequentially turned on as the screw connection 222 is tightened and then sequentially turned off as the screw connection 222 is loosened.
  • a visual alert may be additionally or alternatively provided by a digital display included with the output devices 159 and/or on the robot cart 144.
  • the current torque value of a screw connection 222 may be displayed on such a display.
  • the display may give an indication of which screw connection 222a, 222b, or 222c is being tightened, where such indication is based on the sensor data generated by the FT sensor 158.
  • the sensor data may indicate the presence of one or more directional lateral forces that are closer to screw connection 222a than 222b or 222c, in which case the display indicates that the displayed torque value belongs to screw connection 222a.
  • the display simultaneously displays the torque value of each available screw connection 222 so that the user knows which screw connections to tighten or loosen.
  • step 308 generates a signal (or signals) that causes movement of a robotic arm 116 as an alert.
  • the movement of the robotic arm 116 is in a direction away from a source of the rotational force applied to the screw connection 222, which may correspond to a direction away from the tool being used to apply the rotational force to indicate to the user of the tool that no additional tightening is needed.
  • the amount of movement away from the tool may be enough to cause the tool to be disengaged from the screw connection 222 (e.g., six inches, a foot, or the like) so as to prevent or mitigate the amount of further tightening.
  • the robotic arm 116 may move in a direction toward the tool or user to provide a gentle “push” on the tool to indicate that the threshold is reached. In other examples, the robotic arm 116 moves up, down, left, or right to indicate that the threshold is reached.
  • Fig. 4 illustrates a method 400 according to at least one embodiment of the present disclosure.
  • the method 400 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor.
  • the at least one processor may be the same as or similar to the processor(s) described above.
  • the at least one processor may be part of a robot (such as a robot 114) or part of another system (such as a tracking system 132).
  • a processor other than any processor described herein may also be used to execute the method 400.
  • the at least one processor may perform the method 400 by executing elements stored in a memory described herein.
  • the elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 400.
  • One or more portions of a method 400 may be performed by the processor executing any of the contents of memory.
  • the method 400 comprises entering a first mode, which may correspond to a mode in which the system 100 is notified that a tool changer 136 is about to be connected to a tracking system 132 (step 404). Entering the first mode may be a useful step to inform elements of the system 100 that the forces sensed by the FT sensor 158 are due to attaching the tool changer 136 to the tracking system 132 and not due to other forces, such as forces experienced during an actual surgical procedure like in the second mode described below.
  • entering the first mode may cause a processor (e.g., processor 148) that receives sensor data from the FT sensor 158 to process the sensor data in a manner that is suitable for issuing one or more alerts as described herein (instead of processing the sensor data in a manner consistent with an ongoing surgical procedure).
  • a processor e.g., processor 1428 that receives sensor data from the FT sensor 158 to process the sensor data in a manner that is suitable for issuing one or more alerts as described herein (instead of processing the sensor data in a manner consistent with an ongoing surgical procedure).
  • entering the first mode may place the processor of the sensor data generated by the FT sensor 158 into a state that uses the sensor data to determine a rotational force applied to a screw connection 222 by, for example, translating the sensor data into a torque value as described herein.
  • the first mode may be automatically entered in response to the tracking system 132 detecting that the tool changer 136 is brought into contact with or in proximity to the distal end of the tracking system 132.
  • the FT sensor 158 may sense the initial forces associated with pressing or placing the protrusions 230 of the tool changer 136 into recesses 232 of the tracking system 132.
  • the first mode is entered in response to the tracking system 132 sensing electrical and/or mechanical contact between the protrusions 230 and the recesses 232.
  • the first mode is entered upon user input to an electromechanical switch on the tracking system 132 or some other element of the system 100.
  • the method 400 includes connecting the tool changer 136 to the tracking system 132 via a rotational force applied to a first connection (step 408).
  • a rotational force applied to a first connection For example, a user uses a tool, such as a screwdriver or wrench, to apply the rotational force to a screw of one of the screw connections 222.
  • the method 400 includes the FT sensor 158 generating sensor data indicative of the rotational force applied to the first connection (step 412). Then, the method 400 determines whether the rotational force applied to the first connection reaches a first threshold (step 416).
  • the determination in step 416 may be made in accordance with one or more of the techniques described above with respect to Figs. 2A-3, such as by monitoring the rotational force in accordance with step 304 and translating the sensor data into a torque value and comparing that torque value to a threshold torque value that is required or recommended for secure connection of the tool changer 136 to the tracking system 132. If the determination in step 416 is ‘no’, the method 400 continues checking whether the rotational force reaches the first threshold in step 416. If the determination in step 416 is ‘yes,” the method 400 issues one or more first alerts (step 420). The one or more first alerts may be issued in accordance with the discussion of Fig. 3 above, and may include one or more audio and/or visual alerts.
  • the method 400 proceeds to determine whether an additional threshold exists (step 424). If so, the method proceeds to determine whether the rotational force reaches the additional threshold (step 428). If the rotational force is determined to reach the additional threshold, the method 400 issues one or more second alerts (432), which may include audio and/or visual alerts provided in addition to the first alert in step 420. As described above with reference to Fig. 3, additional thresholds and alerts may be encountered when the system is designed to provide continuous notification to a user of the gradual increase or decrease in tightening of a screw connection 222. However, it should be appreciated that additional thresholds may not exist, in which case the method 400 proceeds to step 436 where a second mode is entered.
  • a robotic surgical system comprising: a tracking system, comprising: a tracking device configured to facilitate tracking of a robotic arm within a coordinate system; and a force-torque sensor; a tool changer configured to: connect to the tracking system via a rotational force applied to a first connection between the tool changer and the tracking system; and connect to an end effector via a second connection between the tool changer and the end effector, wherein the force-torque sensor is configured to generate sensor data indicative of the rotational force applied to the first connection when connecting the tool changer to the tracking system via the first connection; and at least one processor configured to issue a first alert when the sensor data indicates that the rotational force reaches a first threshold.
  • a tracking system comprising: a tracking device configured to facilitate tracking of a robotic arm within a coordinate system; and a force-torque sensor; a tool changer configured to: connect to the tracking system via a rotational force applied to a first connection between the tool changer and the tracking system; and connect to an end effector via a second connection between the tool
  • Example (4) The robotic surgical system of one or more of Examples (1) to (3), further comprising one or more speakers that provide the audio alert.
  • Example (5) The robotic surgical system of one or more of Examples (1) to (4), wherein the first alert includes a visual alert.
  • Example (6) The robotic surgical system of one or more of Examples (1) to (5), wherein the tracking device comprises one or more light sources that provide the visual alert.
  • Example (7) The robotic surgical system of one or more of Examples (1) to (6), wherein the one or more light sources are used to facilitate tracking of the robotic arm within the coordinate system by one or more cameras.
  • Example (8) The robotic surgical system of one or more of Examples (1) to (7), wherein the at least one processor is configured to issue a second alert when the sensor data indicates that the rotational force reaches a second threshold greater than the first threshold.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système chirurgical robotique qui comprend un système de suivi comprenant un dispositif de suivi conçu pour faciliter le suivi d'un bras robotique dans un système de coordonnées, et un capteur de couple de force. Le système comprend un changeur d'outil conçu pour être raccordé au système de suivi par une force de rotation appliquée à un premier raccordement entre le changeur d'outil et le système de suivi, et pour être raccordé à un effecteur terminal au moyen d'un second raccordement entre le changeur d'outil et l'effecteur terminal. Le capteur de couple de force est conçu pour générer des données de capteur indiquant la force de rotation appliquée au premier raccordement lors du raccordement du changeur d'outil au système de suivi au moyen du premier raccordement. Le système comprend au moins un processeur conçu pour émettre une première alerte lorsque les données de capteur indiquent que la force de rotation atteint un premier seuil.
PCT/IL2025/050054 2024-01-16 2025-01-15 Systèmes et procédés permettant de fixer un changeur d'outil à un bras robotique Pending WO2025154067A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202463621409P 2024-01-16 2024-01-16
US63/621,409 2024-01-16

Publications (1)

Publication Number Publication Date
WO2025154067A1 true WO2025154067A1 (fr) 2025-07-24

Family

ID=94768174

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2025/050054 Pending WO2025154067A1 (fr) 2024-01-16 2025-01-15 Systèmes et procédés permettant de fixer un changeur d'outil à un bras robotique

Country Status (1)

Country Link
WO (1) WO2025154067A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180168761A1 (en) * 2016-12-20 2018-06-21 Verb Surgical Inc. Signaling of sterile adapter and tool attachment for use in a robotic surgical system
US20180289445A1 (en) * 2014-11-14 2018-10-11 Medineering Gmbh Intelligent holding arm for head surgery, with touch-sensitive operation
WO2019089314A2 (fr) * 2017-10-30 2019-05-09 Ethicon Llc Algorithme réactif pour système chirurgical
US20200375672A1 (en) * 2017-05-09 2020-12-03 Transenterix Surgical, Inc. System and method for verifying end effector/instrument engagement to a robotic manipulator
US20220040855A1 (en) * 2019-03-13 2022-02-10 Curexo, Inc. End effector of surgical robot
US20220409304A1 (en) 2021-06-24 2022-12-29 Mazor Robotics Ltd. Interchangeable end effector and sterile barrier
US20220409303A1 (en) 2021-06-24 2022-12-29 Mazor Robotics Ltd. Interchangeable end effector and sterile barrier
US20230063521A1 (en) * 2018-08-20 2023-03-02 Verb Surgical Inc. Method and system for engagement of a surgical tool with actuators of a tool drive in a surgical robotic system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180289445A1 (en) * 2014-11-14 2018-10-11 Medineering Gmbh Intelligent holding arm for head surgery, with touch-sensitive operation
US20180168761A1 (en) * 2016-12-20 2018-06-21 Verb Surgical Inc. Signaling of sterile adapter and tool attachment for use in a robotic surgical system
US20200375672A1 (en) * 2017-05-09 2020-12-03 Transenterix Surgical, Inc. System and method for verifying end effector/instrument engagement to a robotic manipulator
WO2019089314A2 (fr) * 2017-10-30 2019-05-09 Ethicon Llc Algorithme réactif pour système chirurgical
US20230063521A1 (en) * 2018-08-20 2023-03-02 Verb Surgical Inc. Method and system for engagement of a surgical tool with actuators of a tool drive in a surgical robotic system
US20220040855A1 (en) * 2019-03-13 2022-02-10 Curexo, Inc. End effector of surgical robot
US20220409304A1 (en) 2021-06-24 2022-12-29 Mazor Robotics Ltd. Interchangeable end effector and sterile barrier
US20220409303A1 (en) 2021-06-24 2022-12-29 Mazor Robotics Ltd. Interchangeable end effector and sterile barrier

Similar Documents

Publication Publication Date Title
US12114939B2 (en) Apparatus, systems, and methods for precise guidance of surgical tools
CN106236261B (zh) 用于机器人辅助外科手术的装置以及定位辅助单元
JP7187198B2 (ja) 多軸力及びモーメントフィードバックを使用した外科用ツール挿入のためのシステム
US12201377B2 (en) Arm movement safety layer
EP4018957A1 (fr) Systèmes et procédés de positionnement d'un port chirurgical
CN118613225A (zh) 结合光学跟踪和惯性测量的分段跟踪
WO2025154067A1 (fr) Systèmes et procédés permettant de fixer un changeur d'outil à un bras robotique
WO2025154065A1 (fr) Systèmes et procédés pour tester la fixation d'un effecteur terminal à un changeur d'outil
US12303112B2 (en) Retraction systems, assemblies, and devices
US20240138932A1 (en) Systems and methods for controlling one or more surgical tools
US20240383152A1 (en) Multi-axis force transducer feedback from robotic end effector adapter
WO2025079074A1 (fr) Systèmes d'étalonnage et d'authentification d'effecteurs terminaux
US12329479B2 (en) Systems and methods for setting an implant
WO2024236477A1 (fr) Rétroaction de transducteur de force à axes multiples provenant d'un adaptateur d'effecteur terminal robotique
US20240130811A1 (en) Systems and methods for determining a safety layer for an anatomical element
US20230404692A1 (en) Cost effective robotic system architecture
WO2024252400A1 (fr) Effecteur terminal de support osseux
EP4284285A1 (fr) Systèmes et procédés de planification d'insertion de tige et insertion de tige

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 25707812

Country of ref document: EP

Kind code of ref document: A1